Constrained estimation-based nonlinear aerial contact predictive control

Since an instrumented unmanned aerial vehicle (UAV) may provide a wide range of solutions and reliable operations, there is an increasing trend called flying hand. However, this state of the art brings challenging control problems. In order to handle the problem called stiff equation as well as bouncing, a new tool configuration based on a passive spring is proposed which can provide a safe interaction with the environment. This study also presents a novel framework consisting of a fusion of constrained optimization-based recursive force estimation and a nonlinear model predictive control (MPC). While the estimator is responsible for the force estimation and noise-free feedback, the nonlinearMPC handles the contact in the desired interaction range.